From d68d3e37c0a444e9260b72d1ffcfe8c68f44c9a4 Mon Sep 17 00:00:00 2001 From: David Gasinski Date: Fri, 1 Aug 2025 11:32:57 +0100 Subject: [PATCH 1/2] fixed bug; lidar.raycast range was never set --- srunner/tools/environment_parser.py | 1 + 1 file changed, 1 insertion(+) diff --git a/srunner/tools/environment_parser.py b/srunner/tools/environment_parser.py index 72368c2..6f50271 100644 --- a/srunner/tools/environment_parser.py +++ b/srunner/tools/environment_parser.py @@ -71,6 +71,7 @@ def parse_ego_config(config: EnvironmentConfig, elem: Element) -> None: elif sensor_type == "sensor.lidar.ray_cast": sensor_obj = LidarRayCast() + sensor_obj.range = sensor.attrib.get("range", 0) sensor_obj.channels = sensor.attrib.get("channels", 0) sensor_obj.points_per_second = sensor.attrib.get("points_per_second", 0) sensor_obj.upper_fov = sensor.attrib.get("upper_fov", 0.0) From c4fdfaa7e0624cf586332b09e96329c7e8a81e8e Mon Sep 17 00:00:00 2001 From: David Gasinski Date: Fri, 1 Aug 2025 11:39:00 +0100 Subject: [PATCH 2/2] slight refactor --- aw_scenario_runner.py | 29 ++++++++++++++--------------- 1 file changed, 14 insertions(+), 15 deletions(-) diff --git a/aw_scenario_runner.py b/aw_scenario_runner.py index 17a8aa6..883b209 100644 --- a/aw_scenario_runner.py +++ b/aw_scenario_runner.py @@ -150,8 +150,21 @@ def run_scenario( ego.prepare_ego() - logger.info("Updating world settings:") + logger.info("Loading route...") + try: + scenario = RouteScenario( + world=self.carla_world, + config=route_config, + debug_mode=self.DEBUG, + ego_vehicle=ego, + ) + except Exception: + logger.info("Could not load Route Scenario") + traceback.print_exc() + return False + + logger.info("Updating world settings:") # tick asynchronously until then settings = CarlaDataProvider.get_world().get_settings() settings.synchronous_mode = True @@ -169,20 +182,6 @@ def run_scenario( tm.set_random_device_seed(int(self._tm_config["seed"])) # ADD TO CONFIG tm.set_synchronous_mode(self._tm_config["sync"]) - logger.info("Loading route...") - - try: - scenario = RouteScenario( - world=self.carla_world, - config=route_config, - debug_mode=self.DEBUG, - ego_vehicle=ego, - ) - except Exception: - logger.info("Could not load Route Scenario") - traceback.print_exc() - return False - logger.info("Starting scenario...") try: self.scenario_manager.load_scenario(scenario, self.aw_agent)